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Event-triggered state estimation for T-S fuzzy affine systems based on piecewise Lyapunov-Krasovskii functionals

control Theory and Technology 2019年第1期17卷 99-111页

作者： Meng WANG Jianbin QIU Gang FENG Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong China State Key Laboratory of Robotics and Systems & Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

This paper investigates the problem of event-triggered H∞state estimation for Takagi-Sugeno (T-S) fuzzy affine systems. The objective is to design an event-triggered scheme and an observer such that the resulting estimation error system is asymptotically stable with a prescribed H∞performance and at the same time unnecessary output measurement transmission can be reduced. First, an event-triggered scheme is proposed to determine whether the sampled measurements should be transmitted or not. The output measurements, which trigger the condition, are supposed to suffer a network-induced time-varying and bounded delay before arriving at the observer. Then, by adopting the input delay method, the estimation error system can be reformulated as a piecewise delay system. Based on the piecewise Lyapunov-Krasovskii functional and the Finsler's lemma, the event-triggered H∞observer design method is developed. Moreover, an algorithm is proposed to co-design the observer gains and the event-triggering parameters to guarantee that the estimation error system is asymptotically stable with a given disturbance attenuation level and the signal transmission rate is reduced as much as possible. Simulation studies are given to show the effectiveness of the proposed method.

关键词： Takagi-Sugeno (T-S) fuzzy affine systems event-triggered scheme, piecewise Lyapunov-Krasovskii functional, state estimation

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Failure mechanism and tunable mechanical responses of structured fabrics

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Composites Communications 2025年 57卷

作者： Zhantu Gan Weining Mao Qianpeng He Hao Tang Yifan Wang Nan Hu State Key Laboratory of Subtropical Building and Urban Science Guangzhou 510641 China School of Civil Engineering and Transportation South China University of Technology Guangzhou 510000 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798 Singapore Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou 510640 China

Structured fabrics have great potential in designing intelligent devices with their reconfigurable features and tunable mechanical responses, but existing studies have primarily explored stiffness and deformations without focusing on their load-bearing capacities. Here, we investigate the failure mechanism and mechanical responses of a structured fabric formed under various combinations of geometric features. Guided by experimental tests, we confirm the influence of geometric features that lead to rod fracture or membrane tearing due to different interaction mechanisms. Our findings indicate that the specific ultimate bearing capacity can be tuned within an order of magnitude with different parameter combinations. This study offers valuable insights into the governing factors in controlling the load-bearing capabilities of structured fabrics and lays the foundation for developing on-demand impact-protecting composites across fields.

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Micro-pores formation mechanism and porosity on the fatigue performance of dual laser-powder bed fusion of Ti6Al4V

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International Journal of Fatigue 2025年 199卷

作者： Guotai Li Peichen Hu Gang Chen Mingjun Chen Tianyu Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Key Laboratory of Micro-systems and Micro-structures Manufacturing Ministry of Education Harbin Heilongjiang 150001 China Institute of Electronic Engineering China Academy of Engineering Physics Mianyang Sichuan 621000 China

Porosity significantly impacts the fatigue performance and stability of dual laser additively manufactured metallic materials. This study presents a comparative analysis of the fatigue behavior of samples fabricated by single-laser powder bed fusion (SL-PBF) and dual-laser PBF (DL-PBF). It shows that porosity defects in the overlap region reduced the fatigue strength of DL-PBF samples by nearly 20 %. Micro-CT analysis revealed that micro-pores in the SL-PBF samples were predominantly located in the contour regions. Machining with a removal depth of 0.5 mm has effectively eliminated over 90 % of internal porosity defects. For monolithic specimens, increasing the sample size and reducing the layer-wise slice area can improve the sphericity of the internal defects (0.71 to 0.85) and reduce the porosity density (0.19 % to 0.011 %). Molecular dynamics simulations further examined the influence of pore size, spacing, and quantity on fatigue behavior. Larger pore sizes promote the formation of {11 2 ¯ 1} < 1 ¯ 1 ¯ 26> twin variants, as the pore diameter increased from 20 Å to 80 Å, the proportion of variants structure increased from 3.6 % to 11.5 %. Fatigue failure initiated from a single pore, with stress propagating towards a distant pore, forming crack paths. Stress was relieved along these crack trajectories, leading to secondary crack branches that spread into low-stress zones around other defects, which resulted in fatigue cracks with vein-like morphologies. This work provides systematic insights into the fatigue degradation mechanisms induced by porosity and offers actionable strategies for improving the fatigue resistance of multi-laser PBF components through process control.

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Stabilization of Continuous-Time systems Against Stochastic Network Uncertainties:Fundamental Variance Bounds

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Journal of systems Science & Complexity 2021年第5期34卷 1858-1878页

作者： QI Tian CHEN Jie School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlSouth China University of TechnologyGuangzhou 510640China Department of Electrical Engineering City University of Hong KongHong KongChina

This paper studies the stabilizability and stabilization of continuous-time systems in the presence of stochastic multiplicative *** authors consider multi-input,multi-output(MIMO)linear time-invariant systems subject to multiple static,structured stochastic uncertainties,and seek to derive fundamental conditions to ensure that a system can be stabilized under a mean-square *** the stochastic control framework,this problem can be considered as one of optimal control under state-or input-dependent random noises,while in the networked control setting,a problem of networked feedback stabilization over lossy communication *** authors adopt a mean-square small gain analysis approach,and obtain necessary and sufficient conditions for a system to be meansquare stabilizable via output *** single-input,single-output(SISO)systems,the condition provides an analytical bound,demonstrating explicitly how plant unstable poles,nonminimum phase zeros,and time delay may impose a limit on the uncertainty variance required for mean-square *** MIMO minimum phase systems with possible delays,the condition amounts to solving a generalized eigenvalue problem,readily solvable using linear matrix inequality optimization techniques.

关键词： Mean-square small gain theorem multiplicative stochastic uncertainty networked control

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A Model Integrating Wavelet Convolution and Linear Attention Mechanism for Inventory Management in Power Warehouses 4

A Model Integrating Wavelet Convolution and Linear Attention...

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4th IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2024

作者： Li, Tao Zhang, Zhengli Li, Ligang Du, Guozheng State Grid Shandong Electric Power Company Material Company Jinan China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China

ISBN: (纸本)9798350363586

Accurate inventory management in power warehouses is crucial for maintaining consistency between records and actual stock levels. However, the complex storage layout and the diversity of stored materials often lead to human errors during manual inventory checks, resulting in inefficiencies. To address these challenges, we collected 2,000 images from power warehouse environments and created a binary classification dataset containing images of correctly and incorrectly placed items. We propose a novel network, CWAMNet, specifically designed for visual inventory management in complex power warehouse environments. CWAMNet integrates wavelet convolution and a linear attention mechanism to overcome the limitations of traditional convolutional neural networks (CNNs) and standard attention mechanisms, achieving a balance between model capacity and computational efficiency. © 2024 IEEE.

关键词： Convolutional neural networks

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The Trust Evaluation and Anomaly Detection Model of Industrial control Equipment Based on Multiservice and Multi-attribute 7

The Trust Evaluation and Anomaly Detection Model of Industri...

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7th International Conference on Computer and Communications, ICCC 2021

作者： Xin, Chen Xianda, Liu Yiheng, Jiang Chen, Wang Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781665409506

In the industrial control system, in order to solve the problem that the installation of smart devices in a transparent environment are faced with the unknown attack problems, because most of the industrial control equipment to detect unknown risks, Therefore, by studying the security protection of the current industrial control system and the trust mechanism that should be widely used in the Internet of things, this paper presents the abnormal node detection mode based on comprehensive trust applied to the industrial control system scenarios. This model firstly proposes a model, which fuses direct and indirect trust values into current trust values through support algorithm and vector similarity algorithm, and then combines them with historical trust values, and gives the calculation method of each trust value. Finally, a method to determine abnormal nodes based on comprehensive trust degree is given to realize a detection process for all industrial control nodes. By analyzing the real data case provided by Melbourne Water, it is concluded that this model can improve the detection range and detection accuracy of abnormal nodes. It can accurately judge and effectively resist malicious behavior and also have a good resistance to aggression. © 2021 IEEE.

关键词： Anomaly detection

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A Piecewise-Markovian Lyapunov Approach to Reliable Output Feedback control for Fuzzy-Affine systems With Time-Delays and Actuator Faults

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2723-2735页

作者： Wei, Yanling Qiu, Jianbin Shi, Peng Wu, Ligang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

This paper addresses the problem of delay-dependent robust and reliable H-infinity static output feedback (SOF) control for a class of uncertain discrete-time Takagi-Sugeno fuzzy-affine (FA) systems with time-varying delay and actuator faults in a singular system framework. The Markov chain is employed to describe the actuator faults behaviors. In particular, by utilizing a system augmentation approach, the conventional closed-loop system is converted into a singular FA system. By constructing a piecewise-Markovian Lyapunov-Krasovskii functional, a new H-infinity performance analysis criterion is then presented, where a novel summation inequality and S-procedure are succeedingly employed. Subsequently, thanks to the special structure of the singular system formulation, the piecewise-affine SOF controller design is proposed via a convex program. Lastly, illustrative examples are given to show the efficacy and less conservatism of the presented approach.

关键词： Piecewise Markovian Lyapunov functional reliable output feedback control time-varying delay T-S fuzzy-affine (FA) systems

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Mobile robot map building in eigenspace - A pea-based approach

Mobile robot map building in eigenspace - A pea-based approa...

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2013 25th Chinese control and Decision Conference, CCDC 2013

作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 150001 China

ISBN: (纸本)9781467355322

Detection and compression of the environmental information incrementally is useful when the mobile robot needs to continuously update its perception database online. In this paper, we propose an incremental subspace fusion method for abstract map building of mobile robot. We firstly adopt PCA to preprocess the panoramic images taken from omnidirectional camera at corresponding location, which can optimally extracts the local map features formed in the subspace and reduces the uncorrelated features. This enables robot to memorize the environmental features incrementally when it travels in an unknown environment. Experimental results are shown finally. © 2013 IEEE.

关键词： Mobile robots

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An Improved Upper Bound on the Maximum Eigenvalue of Exponential Model Based Spatial Correlation Matrices in Massive MIMO systems 19

An Improved Upper Bound on the Maximum Eigenvalue of Exponen...

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19th IEEE International Conference on Communication Technology, ICCT 2019

作者： Gong, Tierui Yang, Guang Mu, Ke Zhao, Chun Yang, Zhijia Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781728105352

Massive Multiple-Input, Multiple-Output (MIMO) communications are considered as one of the most promising directions for the next generation communications and have attracted extensive research interests. The using of exponential model is recognized as an effective manner to describe the spatial correlation matrix in a spatially correlated MIMO channel for its simple form and accurate fitting on the experimental measurements. Based on this useful exponential model, an improved upper bound on the maximum eigenvalue of the spatial correlation matrix is given in this paper. Complying with the existing results, the proposed upper bound is also a function of the number of antennas and the absolute value of correlation coefficient. However, the proposed upper bound is obtained using a trace-based derivation, which is tighter than existing results in high spatial correlation massive MIMO systems. Simulations show that the proposed upper bound is closer to the true maximum eigenvalues for both uniform linear array and uniform planar array scenarios, which is expected to be widely used in massive MIMO systems. © 2019 IEEE.

关键词： Eigenvalues and eigenfunctions

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